CN103206949A - Self-detecting self-positioning universal screw machine and positioning method thereof - Google Patents
Self-detecting self-positioning universal screw machine and positioning method thereof Download PDFInfo
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- CN103206949A CN103206949A CN2013101250423A CN201310125042A CN103206949A CN 103206949 A CN103206949 A CN 103206949A CN 2013101250423 A CN2013101250423 A CN 2013101250423A CN 201310125042 A CN201310125042 A CN 201310125042A CN 103206949 A CN103206949 A CN 103206949A
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Abstract
The invention relates to a multifunctional universal screw machine which is particularly applicable to the assembly manufacturing industry and specifically discloses a screw machine which can realize the self-detecting and the self-positioning and automatically choose positions to strike corresponding screws according to detection results. The screw machine comprises a screw striking mechanism, a control system, a feed mechanism and a rack. The control system comprises a charge-coupled device (CCD), an image capturing card, a personal computer (PC), an input/output (I/O) card, a controller and a human machine interface (HMI). The rack comprises a screw machine body and an outer cover. The body is provided with a power distribution unit and various safety protection devices and the outer cover is transparent. The whole device applies advanced vision measurement technology to automatic control skillfully to realize the automatic forming and positioning of screw holes. The screw machine has the advantages of novelty in concept, high detection precision, improvement in the assembly quality and efficiency of products, simplicity in structure, convenience in programming, high automation degree and strong universality. The self-detecting self-positioning universal screw machine is suitable for large-scale popularization.
Description
Technical field
The present invention relates to a kind of multifunctional general filature, especially be useful for the assembling manufacturing industry, specifically a kind of screw hole of realizing detects, locatees automatically and select to beat automatically according to detected result the device of corresponding screw automatically.
Background technology
Automatic locking filature The Application of Technology scope is extremely broad, automatization level is more and more higher, the concept of automaticity has different understanding and defines at different times, see with regard to present actual conditions, hand-held automatic locking filature has solved the self-feeding problem, and full-automatic general type screw locking machine is representing the highest level of robotization.
Automatic locking filature The Application of Technology field is very extensive, raising along with robotization consciousness, automatic locking screw technology is widely used in machinery, electronics, electric apparatus manufacture, and automated job has replaced the artificial simple pipelining that repeats, and effectively raises yield-power and the competitive power of enterprise.Constantly occur hand-held filature, semi-automatic filature subsequently on the market, but it still also fails to reach full-automatic level, versatility is also undesirable.Therefore full-automatic orientation problem becomes the core difficult problem in these fields, and the exploitation of this difficult problem is had great scientific meaning and using value widely.
Summary of the invention
To be solved by this invention is that existing filature can not full-automatic be located the problem that versatility is undesirable.
In order to address the above problem, the invention provides the self-align universal filature of a kind of self check, comprise the filature body, the mechanism that screws is located on the filature body by frame, the filature body is provided with control system, it is characterized in that the described mechanism that screws is provided with at least one unit that screws; Described control system comprises image pick-up card, data handling system, I/O card and the controller that connects successively, and controller is connected with the unit that screws; Described filature body is provided with transparent housing outward, and the transparent housing inner top is provided with industrial CCD one, industrial CCD two, the image acquisition card connection in industrial CCD one, industrial CCD two and the control system.
Preferably, the described mechanism that screws is provided with 2-10 the unit that screws.
Preferably, the described unit that screws comprises the base plate that is fixed on the mechanism's main shaft that screws, one side of base plate is provided with upper backup pad, lower supporting plate, upper backup pad is provided with former moving assembly, former moving assembly is connected with upper backup pad, lower supporting plate by the axis of guide, upper backup pad is provided with limited post one, and lower supporting plate is provided with limited post two; Base plate is provided with inductor, and inductor is provided with sensor; The upper backup pad outside is provided with topworks, and topworks is connected with the device that screws that is positioned at the lower supporting plate below by connecting link; Topworks, former moving assembly are connected with controller in the described control system.
Further, described former moving assembly comprises the lock countercylinder, and the lock countercylinder is located on the axis of guide by upper fixed seat.
Further, the described axis of guide is provided with setting nut and adjuster bar.
Further, be provided with adjusting screw(rod) between described upper backup pad, the lower supporting plate.
Further, the below of described lower supporting plate is provided with lower fixed seat.
Further, described topworks comprises electric screwdriver, electric screwdriver is fixed on the electric screwdriver fixed block by electric screwdriver fixture block and mounting flange, the electric screwdriver fixed block is connected with upper backup pad, electric screwdriver exposes with the upper end of connecting link from electric screwdriver fixture block, mounting flange, electric screwdriver fixed block and is connected, and electric screwdriver is connected with controller in the described control system.
Further, the described device that screws comprises the reducing sleeve that is connected with described connecting link lower end, and the below of reducing sleeve is provided with the dop seat, and the dop seat is provided with screw and imports cover, and dop seat below is provided with dop.
Further, the described device that screws is provided with feed mechanism, feed mechanism involving vibrations hopper, and vibrating bunker is provided with the material loading passage, and the end of material loading passage is provided with feeding distribution mechanism.
Further, described feeding distribution mechanism comprises the sub-material body, and the sub-material body is provided with cylinder and sub-material inductor, and the sub-material inductor is connected with described controller; Air-leg on the cylinder is connected with the sub-material body; The below of sub-material body is provided with the material mouth.
Preferably, described data handling system is provided with display.
Preferably, be provided with at least 2 light sources in the described transparent housing.
The present invention also provides the localization method of the self-align universal filature of above-mentioned self check, it is characterized in that, industrial CCD one in the described control system, industrial CCD two detect size and the position of screw hole, the screw hole image of gathering is transformed to digital picture with the image capturing system of form in high speed image acquisition board of standard signal, and data are transported to data handling system, carry out view data by data handling system and handle; Every width of cloth digital picture is M * N array in data handling system, the numerical value of each element in the image of the capable N row of M namely is the brightness of image, at image definition rectangular coordinate system u, v, coordinate (the u of each pixel, v) be respectively columns and the line number of this pixel in array, (u v) is to be the image coordinate system coordinate of unit with the pixel, O
1Be initial point, X-axis and Y-axis are parallel with u, v axle respectively, and (U, V) expression is the image coordinate system coordinate of unit with the millimeter, O
1Be the intersection point of camera optical axis and the plane of delineation, this coordinate under image pixel is made as (u
0, v
0), the physical size of each pixel on X-axis and Y direction is dX, dY, then has following transformational relation:
Because industrial CCD one, industrial CCD two are located at the optional position in the transparent hood, in transparent hood, to select a frame of reference to describe the position of industrial CCD one, industrial CCD two, and describe the position of any object in the transparent hood with it, the frame of reference is by x
w, y
w, z
wAxle is formed, and the coordinate system of industrial CCD one, industrial CCD two and the position coordinates of target screw hole system close and be:
Because the CCD coordinate system can directly extract, and then can extrapolate coordinates of targets, after handling, data handling system realizes location automatically.
The invention has the beneficial effects as follows: advanced person's vision measurement technology is applied in the automatic control, realizes the screw hole location that formalizes automatically.Novel, accuracy of detection is high, improve assembly quality and the efficient of product.Under the environment that existing cost of labor increases gradually, for the user has reduced production cost, obviously improved economic benefit.Design science is reasonable, can revise the just control of energy implementation efficiency of control program according to user's actual demand; Can realize that Three Degree Of Freedom is adjustable, only need to change the versatility that corresponding anchor clamps just can be realized equipment according to the characteristics of actual product.
Description of drawings
Fig. 1 is the synoptic diagram of the self-align universal filature of a kind of self check provided by the invention;
Fig. 2 is the structural drawing of mechanism of screwing;
Fig. 3 is the structural drawing of unit of screwing;
Fig. 4 is the side view figure of Fig. 3;
Fig. 5 is the structural drawing of feed mechanism;
Fig. 6 is the structural drawing of feeding distribution mechanism;
Fig. 7 is the coordinate schematic diagram that filature screw hole provided by the invention is demarcated;
Fig. 8 is the connection diagram of control system.
Embodiment
For the present invention is become apparent, now with preferred embodiment, and conjunction with figs. is described in detail below.
Embodiment
Shown in Fig. 1-8, be the structural representation of the self-align universal filature of self check provided by the invention, comprise filature body 36, the mechanism 35 that screws is located on the filature body 36 by frame, and filature body 36 is provided with control system 8.As shown in Figure 2, the screw main shaft of mechanism 35 is provided with 8 unit 47 that screw.As shown in Figure 3-4, the unit 47 that screws is fixed in base plate 17 on mechanism's 35 main shafts that screw, one side of base plate 17 is provided with upper backup pad 15, lower supporting plate 6, upper backup pad 15 is provided with former moving assembly, former moving assembly is connected with upper backup pad 15, lower supporting plate 6 by the axis of guide 10, upper backup pad 15 is provided with limited post 1, and lower supporting plate 6 is provided with limited post 25.Former moving assembly comprises lock countercylinder 21, and lock countercylinder 21 is fixed on the upper fixed seat 19, and the axis of guide 10 inserts upper fixed seat 19 from the bottom, embeds axis of guide end cap 20 in the place of upper fixed seat 19 correspondences.Base plate 17 is provided with inductor 14, and inductor 14 is provided with sensor 16.Upper backup pad 15 outsides are provided with topworks 45, and topworks 45 is connected with the device that screws that is positioned at lower supporting plate 6 belows by connecting link 46.The axis of guide 10 is provided with setting nut 13 and adjuster bar 7.Be provided with adjusting screw(rod) 12 between upper backup pad 15, the lower supporting plate 6.The below of lower supporting plate 6 is provided with lower fixed seat 11, and lower fixed seat 11 is connected and fixed with base plate 17, plays the effect of bracing reinforcement lower supporting plate 6.Described topworks 45 comprises electric screwdriver 1, electric screwdriver 1 is fixed on the electric screwdriver fixed block 4 by electric screwdriver fixture block 2 and mounting flange 3, electric screwdriver fixed block 4 is connected with upper backup pad 15, and electric screwdriver 1 exposes from electric screwdriver fixture block 2, mounting flange 3, electric screwdriver fixed block 4 with the upper end of connecting link 46 and is connected.The described device that screws comprises the reducing sleeve 9 that is connected with described connecting link 46 lower ends, and the below of reducing sleeve 9 is provided with dop seat 23, and dop seat 23 is provided with screw and imports cover 24, and dop seat 23 belows are provided with dop 22.The mechanism 35 that screws is provided with feed mechanism 37, feed mechanism 37 involving vibrations hoppers 25, and vibrating bunker 25 is provided with material loading passage 26, and the end of material loading passage 26 is provided with feeding distribution mechanism 48, as shown in Figure 5.Feeding distribution mechanism 48 comprises sub-material body 31, and sub-material body 31 is provided with cylinder 29 and sub-material inductor 28, and sub-material inductor 28 is connected with controller 44.Distribution block in air-leg 27 on the cylinder 29 and the sub-material body 31 is connected.The below of distribution block is provided with material mouth 30, as shown in Figure 6.As shown in Figure 8, control system 8 comprises image pick-up card 40, data handling system 41, I/O card 43 and the controller 44 that connects successively, and controller 44 is connected with lock countercylinder 21, electric screwdriver 1 respectively.Filature body 36 is outer to be provided with transparent housing 39, and transparent housing 39 inner tops are provided with industrial CCD 1, industrial CCD 2 33, and industrial CCD 1, industrial CCD 2 33 are connected with image pick-up card 40 in the control system 8.Data handling system 41 adopts the PC that is provided with display 42.Be provided with 2 movably light sources in the transparent housing 39, i.e. light source 1, light source 2 38.
Former moving assembly also can adopt the pneumoelectric dynamic formula.The running part of former moving assembly adopts the polished rod lead screw transmission.Topworks also can adopt pneumatic screwdriver.
The principle of work of feed mechanism 37 is: workpiece is poured in the vibrating bunker 25, by after vibrating bunker 25 internal vibrations orientations and ordering, arranges by the order of unanimity and to enter material loading passage 26.The distribution block that the air-leg 27 of controller 44 control material loading channel ends promotes in the sub-material body 31.Tested workpiece is pushed into material mouth 30 by distribution block, again by the pneumatic dop 22 of delivering to.Concrete feeding time, efficient are according to actual needs by controller 44 programming Control.48 of feeding distribution mechanisms need the corresponding turnover tracheae of configuration and feed-stock pipeline just can realize the sub-material function.
Because industrial CCD 1, industrial CCD 2 33 are subjected to the influence of light source very big, the outside configuration transparent housing 39 that needs of frame.Filature body 36 can be according to producing needs configuration safety guard.
The localization method of the self-align universal filature of above-mentioned self check is: the industrial CCD 1 in the control system, industrial CCD 2 33 detect the screw hole position, the screw hole image of gathering is transformed to digital picture with the image capturing system of form in high speed image acquisition board 40 of standard signal, and data are transported to data handling system 41, carry out view data by data handling system 41 and handle, PC can carry out view data by softwares such as VB, VC, Matlab to be handled; As shown in Figure 7, every width of cloth digital picture is M * N array in data handling system 41, the numerical value of each element in the image of the capable N row of M namely is the brightness of image, at image definition rectangular coordinate system u, v, (u v) is respectively columns and the line number of this pixel in array to the coordinate of each pixel, (u, v) be to be the image coordinate system coordinate of unit with the pixel, O
1Be initial point, X-axis and Y-axis are parallel with u, v axle respectively, and (U, V) expression is the image coordinate system coordinate of unit with the millimeter, O
1Be the intersection point of camera optical axis and the plane of delineation, this coordinate under image pixel is made as (u
0, v
0), the physical size of each pixel on X-axis and Y direction is dX, dY, then has following transformational relation:
Because industrial CCD 1, industrial CCD 2 33 are located at the optional position in the transparent hood 39, in transparent hood 39, select a frame of reference to describe the position that refers to industrial CCD 1, industrial CCD 2 33, and with it the position of any object in the transparent hood 39 is described, the frame of reference is by x
w, y
w, z
wAxle is formed, and the coordinate system of industrial CCD 1, industrial CCD 2 33 and target screw hole position coordinates system close and be:
Because the CCD coordinate system can directly extract, and then can extrapolate coordinates of targets, after handling, data handling system 41 realizes location automatically.Optimal data after data handling system 41 will be handled sends controller 44 to by the I/O interface of I/O card 43.Corresponding screw is played automatically by the rule of setting by controller 44 control topworkies 45.Lock countercylinder 21 promotes electric screwdriver fixed head 4 makes electric screwdriver 1 realize screwing action.
The course of work of control system 8 is: at first industrial CCD 1, industrial CCD 2 33 are gathered image, by image pick-up card 40 image transitions is become digital format and is passed to data handling system 41, it is the storer of PC, processor uses different algorithms to improve the image-element that conclusion is had material impact, and the key characteristic of treated device identification and quantized image passes to control program to these data then; The control program of processor is concluded according to the data of receiving, and carries out the corresponding work that screws.Adopt two industrial CCDs to the screw hole location that formalizes, image pick-up card 40 is gathered the input gray level image, through image pre-service filtering to dispel noise, filtered image obtains the gray scale edge image through rim detection, and gray scale edge image process edge image fault value is cut apart, the opening and closing operation noise filtering obtains the edge contour match.The final information such as geometric parameter of extracting measured target are sent to controller 44.Carry out target area identification owing to adopt image binaryzation to cut apart, when appearring in object boundary, burr can exert an influence and grey scale centre of gravity is less to background gray levels to arithmetic accuracy, and the intensity profile of its target of target gray value condition with higher mostly is parabola or Gauss surface, and can obtain high orientation precision this moment.So not only improved accuracy of detection but also improved automaticity and reliability by the industrial CCD detection.
Claims (14)
1. self-align universal filature of self check, comprise filature body (36), the mechanism (35) that screws is located on the filature body (36) by frame, filature body (36) is provided with control system (8), it is characterized in that the described mechanism that screws (35) is provided with at least one unit that screws (47); Described control system (8) comprises image pick-up card (40), data handling system (41), I/O card (43) and the controller (44) that connects successively, and controller (44) is connected with the unit that screws (47); The outer transparent housing (39) that is provided with of described filature body (36), transparent housing (39) inner top is provided with industrial CCD one (32), industrial CCD two (33), and industrial CCD one (32), industrial CCD two (33) are connected with image pick-up card (40) in the control system (8).
2. the self-align universal filature of a kind of self check as claimed in claim 1 is characterized in that, the described mechanism that screws (35) is provided with 2-10 the unit (47) that screws.
3. the self-align universal filature of a kind of self check as claimed in claim 1 or 2, it is characterized in that, the described unit that screws (47) comprises the base plate (17) that is fixed on the mechanism that screws (35) main shaft, one side of base plate (17) is provided with upper backup pad (15), lower supporting plate (6), upper backup pad (15) is provided with former moving assembly, former moving assembly is connected with upper backup pad (15), lower supporting plate (6) by the axis of guide (10), upper backup pad (15) is provided with limited post one (18), and lower supporting plate (6) is provided with limited post two (5); Base plate (17) is provided with inductor (14), and inductor (14) is provided with sensor (16); Upper backup pad (15) outside is provided with topworks (45), and topworks (45) is connected with the device that screws that is positioned at lower supporting plate (6) below by connecting link (46); Topworks (45), former moving assembly are connected with controller (44) in the described control system (8).
4. the self-align universal filature of a kind of self check as claimed in claim 3 is characterized in that, described former moving assembly comprises lock countercylinder (21), and lock countercylinder (21) is located on the axis of guide (10) by upper fixed seat (19).
5. the self-align universal filature of a kind of self check as claimed in claim 3 is characterized in that, the described axis of guide (10) is provided with setting nut (13) and adjuster bar (7).
6. the self-align universal filature of a kind of self check as claimed in claim 3 is characterized in that, is provided with adjusting screw(rod) (12) between described upper backup pad (15), the lower supporting plate (6).
7. the self-align universal filature of a kind of self check as claimed in claim 3 is characterized in that, the below of described lower supporting plate (6) is provided with lower fixed seat (11).
8. the self-align universal filature of a kind of self check as claimed in claim 3, it is characterized in that, described topworks (45) comprises electric screwdriver (1), electric screwdriver (1) is fixed on the electric screwdriver fixed block (4) by electric screwdriver fixture block (2) and mounting flange (3), electric screwdriver fixed block (4) is connected with upper backup pad (15), electric screwdriver (1) exposes from electric screwdriver fixture block (2), mounting flange (3), electric screwdriver fixed block (4) with the upper end of connecting link (46) and is connected, and electric screwdriver (1) is connected with controller (44) in the described control system (8).
9. the self-align universal filature of a kind of self check as claimed in claim 3, it is characterized in that, the described device that screws comprises the reducing sleeve (9) that is connected with described connecting link (46) lower end, the below of reducing sleeve (9) is provided with dop seat (23), dop seat (23) is provided with screw and imports cover (24), and dop seat (23) below is provided with dop (22).
10. the self-align universal filature of a kind of self check as claimed in claim 3, it is characterized in that, the described device that screws is provided with feed mechanism (37), feed mechanism (37) involving vibrations hopper (25), vibrating bunker (25) is provided with material loading passage (26), and the end of material loading passage (26) is provided with feeding distribution mechanism (48).
11. the self-align universal filature of a kind of self check as claimed in claim 10, it is characterized in that, described feeding distribution mechanism (48) comprises sub-material body (31), sub-material body (31) is provided with cylinder (29) and sub-material inductor (28), and sub-material inductor (28) is connected with described controller (44); Air-leg (27) on the cylinder (29) is connected with sub-material body (31); The below of sub-material body (31) is provided with material mouthful (30).
12. the self-align universal filature of a kind of self check as claimed in claim 1 is characterized in that described data handling system (41) is provided with display (42).
13. the self-align universal filature of a kind of self check as claimed in claim 1 is characterized in that described transparent housing is provided with at least 2 light sources in (39).
14. the localization method of any self-align universal filature of described a kind of self check among the claim 1-13, it is characterized in that, industrial CCD one (32) in the described control system, industrial CCD two (33) detect the screw hole position, the screw hole image of gathering is transformed to digital picture with the image capturing system of form in high speed image acquisition board (40) of standard signal, and data are transported to data handling system (41), carry out view data by data handling system (41) and handle; Every width of cloth digital picture is M * N array in data handling system (41), the numerical value of each element in the image of the capable N row of M namely is the brightness of image, at image definition rectangular coordinate system u, v, coordinate (the u of each pixel, v) be respectively columns and the line number of this pixel in array, (u v) is to be the image coordinate system coordinate of unit with the pixel, O
1Be initial point, X-axis and Y-axis are parallel with u, v axle respectively, and (U, V) expression is the image coordinate system coordinate of unit with the millimeter, O
1Be the intersection point of camera optical axis and the plane of delineation, this coordinate under image pixel is made as (u
0, v
0), the physical size of each pixel on X-axis and Y direction is dX, dY, then has following transformational relation:
Because industrial CCD one (32), industrial CCD two (33) are located at the optional position in the transparent hood (39), in transparent hood (39), select a frame of reference to describe the position of industrial CCD one (32), industrial CCD two (33), and with it the position of any object in the transparent hood (39) is described, the frame of reference is by x
w, y
w, z
wAxle is formed, and the coordinate system of industrial CCD one (32), industrial CCD two (33) and target screw hole position coordinates system close and be:
Because the CCD coordinate system can directly extract, and then can extrapolate coordinates of targets, after handling, data handling system (41) realizes location automatically.
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|---|---|---|---|
| CN201310125042.3A CN103206949B (en) | 2013-04-11 | 2013-04-11 | Self-detecting self-positioning universal screw machine and positioning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310125042.3A CN103206949B (en) | 2013-04-11 | 2013-04-11 | Self-detecting self-positioning universal screw machine and positioning method thereof |
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| CN103206949A true CN103206949A (en) | 2013-07-17 |
| CN103206949B CN103206949B (en) | 2015-05-20 |
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| CN103801989A (en) * | 2014-03-10 | 2014-05-21 | 太原理工大学 | Airborne automatic measurement system for determining origin of coordinates of workpiece according to image processing |
| CN104924064A (en) * | 2015-07-08 | 2015-09-23 | 上海第二工业大学 | Automatic screw disassembling method and device based on visual positioning and torque control |
| CN106002225A (en) * | 2016-07-22 | 2016-10-12 | 苏州全丰精密机械有限公司 | Screw separating and conveying mechanism with four chucks |
| CN106217017A (en) * | 2016-08-12 | 2016-12-14 | 湖南瑞森可机器人科技有限公司 | A kind of compartmentalization is automatically positioned screw locking machine device people and screwed lock pays method |
| CN106312532A (en) * | 2016-10-19 | 2017-01-11 | 中山市合赢智能装备有限公司 | Method for locking screw automatically |
| CN107855763A (en) * | 2017-11-29 | 2018-03-30 | 苏州弘瀚自动化科技有限公司 | A kind of portable lock screw frock |
| CN107984201A (en) * | 2017-11-30 | 2018-05-04 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103801989A (en) * | 2014-03-10 | 2014-05-21 | 太原理工大学 | Airborne automatic measurement system for determining origin of coordinates of workpiece according to image processing |
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| CN107855763A (en) * | 2017-11-29 | 2018-03-30 | 苏州弘瀚自动化科技有限公司 | A kind of portable lock screw frock |
| CN107984201A (en) * | 2017-11-30 | 2018-05-04 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
| CN108593653A (en) * | 2017-12-31 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of screw classification of view-based access control model and damage detection device and method |
| JP2019188564A (en) * | 2018-04-27 | 2019-10-31 | 京セラドキュメントソリューションズ株式会社 | Machine screw fastening device |
| CN109029822A (en) * | 2018-07-06 | 2018-12-18 | 东莞市旭高精密金属制品有限公司 | Automatic torsion test equipment and automatic torsion test method |
| CN109029822B (en) * | 2018-07-06 | 2024-07-09 | 东莞市旭高精密金属制品有限公司 | Automatic torsion testing equipment and automatic torsion testing method |
| CN109128798A (en) * | 2018-11-21 | 2019-01-04 | 四川新翔智联科技有限公司 | Six axis of one kind lock screw equipment automatically |
| CN114571199A (en) * | 2020-12-01 | 2022-06-03 | 福建星网元智科技有限公司 | Screw locking machine and screw positioning method |
| CN114571199B (en) * | 2020-12-01 | 2024-06-11 | 福建星网元智科技有限公司 | Screw locking machine and screw positioning method |
| TWI825924B (en) * | 2022-08-16 | 2023-12-11 | 榮昌科技股份有限公司 | Screw hole position detecting apparatus and detecting method |
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